Parameter identification of robotic systems with series elastic actuators

P.W.M. Zutven, van; D. Kostic; H. Nijmeijer

doi:10.3182/20100901-3-IT-2016.00127

Parameter identification of robotic systems with series elastic actuators

P.W.M. Zutven, van, D. Kostic, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

Abstract

This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.

Original language	English
Title of host publication	Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy
Place of Publication	Italy, Bologna
Pages	350-355
DOIs	https://doi.org/10.3182/20100901-3-IT-2016.00127
Publication status	Published - 2010

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10.3182/20100901-3-IT-2016.00127

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title = "Parameter identification of robotic systems with series elastic actuators",

abstract = "This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.",

author = "{Zutven, van}, P.W.M. and D. Kostic and H. Nijmeijer",

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doi = "10.3182/20100901-3-IT-2016.00127",

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Parameter identification of robotic systems with series elastic actuators. / Zutven, van, P.W.M.; Kostic, D.; Nijmeijer, H.

Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy. Italy, Bologna, 2010. p. 350-355.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Kostic, D.

AU - Nijmeijer, H.

PY - 2010

Y1 - 2010

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AB - This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.

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DO - 10.3182/20100901-3-IT-2016.00127

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BT - Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy

CY - Italy, Bologna

ER -

Parameter identification of robotic systems with series elastic actuators

Abstract

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